Furhat Robotics AB

1 Introduction Affective behavior, the ability to perceive and express emotions, is a fundamental component of human communication. It is instrumental in building human relationships (Lazarus, 2006) and decision making (So et al., 2015). Humans use facial expressions to convey various meanings during interactions (Elliott and Jacobs, 2013) and with social robots poised to be integrated into society, it is prudent for these robots to have the ability to exhibit affective behavior.

1 Introduction It is well established that gaze cues are one of the most important non-verbal cues used in Human-Human Interactions (HHI) (Kendon, 1967). Several studies have shown the many roles gaze cues play in facilitating human interactions. When interacting with each other, people use gaze to coordinate joint attention, communicating their focus of attention and perceiving their partner’s focus to follow (Tomasello, 1995). Ho et al.

Chinmaya Mishra1, Tom Offrede2, Susanne Fuchs3, Christine Mooshammer4 and Gabriel Skantze5* 1Furhat Robotics AB, Sweden 2Humboldt University of Berlin, Germany 3Leibniz Center for General Linguistics (ZAS), Germany 4Fakultät für Sprache und Literatur, Humboldt-Universität zu Berlin, Germany 5Royal Institute of Technology, Sweden The final, formatted version of the article will be published soon.